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Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach

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  • Xing Huo
  • Mingyi Huo
  • Hamid Reza Karimi

Abstract

The modeling and attitude stabilization control problems of a four-rotor vertical takeoff and landing unmanned air vehicle (UAV) known as the quadrotor are investigated. The quadrotor’s attitude is represented by the unit quaternion rather than Euler angles to avoid singularity problem. Taking dynamical behavior of motors into consideration and ignoring aerodynamic effect, a nonlinear controller is developed to stabilize the attitude. The control design is accomplished by using backstepping control technique. The proposed control law is based on the compensation for the Coriolis and gyroscope torques. Applying Lyapunov stability analysis proves that the closed-loop attitude system is asymptotic stable. Moreover, the controller can guarantee that all the states of the system are uniformly ultimately bounded in the presence of external disturbance torque. The effectiveness of the proposed control approach is analytically authenticated and also validated via simulation study.

Suggested Citation

  • Xing Huo & Mingyi Huo & Hamid Reza Karimi, 2014. "Attitude Stabilization Control of a Quadrotor UAV by Using Backstepping Approach," Mathematical Problems in Engineering, Hindawi, vol. 2014, pages 1-9, February.
    • Handle: RePEc:hin:jnlmpe:749803
    DOI: 10.1155/2014/749803
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    Cited by:

    1. Zeghlache, Samir & Rahali, Hilal & Djerioui, Ali & Benyettou, Loutfi & Benkhoris, Mohamed Fouad, 2024. "Robust adaptive backstepping neural networks fault tolerant control for mobile manipulator UAV with multiple uncertainties," Mathematics and Computers in Simulation (MATCOM), Elsevier, vol. 218(C), pages 556-585.

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